US4961039A - Moving object detecting device - Google Patents
Moving object detecting device Download PDFInfo
- Publication number
- US4961039A US4961039A US07/174,169 US17416988A US4961039A US 4961039 A US4961039 A US 4961039A US 17416988 A US17416988 A US 17416988A US 4961039 A US4961039 A US 4961039A
- Authority
- US
- United States
- Prior art keywords
- quadrant
- signals
- wave
- output
- received
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000001514 detection method Methods 0.000 abstract description 12
- 238000010586 diagram Methods 0.000 description 9
- 230000008859 change Effects 0.000 description 4
- 239000002131 composite material Substances 0.000 description 2
- 230000007257 malfunction Effects 0.000 description 2
- 230000001902 propagating effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
- G01S13/56—Discriminating between fixed and moving objects or between objects moving at different speeds for presence detection
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/50—Systems of measurement, based on relative movement of the target
- G01S15/52—Discriminating between fixed and moving objects or between objects moving at different speeds
- G01S15/523—Discriminating between fixed and moving objects or between objects moving at different speeds for presence detection
Definitions
- This invention relates to a moving object detecting device for detecting an object moving in a supervisory zone by radiating over the zone such continuous energy waves as ultrasonic waves, microwaves or the like, and detecting frequency deviation of reflected waves from the object caused by its movement.
- the moving object detecting devices of the kind referred to are arranged for keeping such continuous energy waves as ultrasonic waves, microwaves or the like of a predetermined frequency radiated over the supervisory zone, and detecting the frequency deviation in the reflected waves caused as the Doppler effect in response to the movement of the object present in the supervisory zone.
- the device is arranged so that the pair of the intermediate signals are converted to binary axial code signals corresponding to the polarity of the intermediate signals, a logic sum of the pair of the intermediate signals is taken to discriminate the presence of the object within the supervisory zone, a detection is made to determine in which one of quadrants of vector plane having the intermediate signals as its basic axes the reflected waves from the object are present, positional shift in the quadrants as well as moving direction of the object are detected, and these information detected on the object are indicated by means of any proper indicating means.
- the presence of the moving object is. to be discriminated by means of, so to say, a time for which the object moves continuously in a fixed direction, and there has arisen such a problem that a presence in the supervisory zone of such a slowly moving but inherently stationary article as a curtain which swings would cause an object's shift detecting means actuated to provide signals responsive to swinging direction and the like even though the article has practically made no substantial shift from the viewpoint of shifting distance, and a malfunction of the device has been thereby caused to occur.
- time constant means as an integrating means so as to prolong the time constant
- this object is attained by a moving object detecting device arranged so that an output of an oscillating means which oscillates at a predetermined frequency is provided to a wave radiator for radiating in a supervisory zone continuous energy waves, reflected waves of said continuous energy back from an object present in the supervisory zone are made incident on a wave receiver, a received-wave signal from said wave receiver is converted by a converter into a pair of intermediate signals forming basic axes of a vector plane, positional shift and moving direction of the object on said vector plane are detected by a detecting means, and thereby detected information of the moving object is made acknowledgeable by an indicating means, characterized in that an angle of the received-wave signal at every moment with respect to said basic axes in the vector plane is detected in time series by an angle detecting means, any angular difference at respective moments is operated by an operating means and, when a predetermined level of said difference is detected, a signal processing means provides an object detection signal to a detection indicating means.
- the moving object detecting device of such arrangement as above of the present invention it is made possible to detect the moving object present in the supervisory zone highly precisely, irrespective of moving velocity of the object, by detecting in time series an angular deviation information of the moving object from the pair of intermediate signals obtained, in particular, through a conversion of energy deviation components of the received-wave signal.
- FIG. 1 is a block diagram of the moving object detecting device in an embodiment according to the present invention.
- FIGS. 2 and 3 diagrams for explaining the operation of the moving object detecting device of FIG. 1;
- FIG. 4 is a block diagram of the device in another embodiment of the present invention.
- FIG. 5 is a diagram for explaining the operation of the device of FIG. 4;
- FIG. 6 is a wave-form diagram taken at main parts in the device of FIG. 4;
- FIG. 7 is a block diagram showing still another embodiment of the device according to the present invention.
- FIG. 8 is a diagram showing wave-forms at main parts in the device of FIG. 7;
- FIG. 9 is a diagram showing further operating wave-forms at other main parts in the device of FIG. 7.
- FIG. 10 is a block diagram showing a further embodiment of the device according to the present invention.
- ultrasonic wave is shown as an example of the continuous energy waves radiated to the supervisory zone, it may be also possible to employ, for example, microwaves or the like.
- FIG. 1 there is shown an embodiment of the moving object detecting device according to the present invention, which comprises a wave radiator 11 for radiating ultrasonic waves as continuous energy waves to a supervisory zone, and a wave receiver 12 on which reflected ones of the continuous energy waves back from an object present in the supervisory zone are made incident.
- the wave radiator 11 is driven by an output signal from an oscillating circuit 13 which sequentially oscillates at a constant frequency.
- an oscillating circuit 13 which sequentially oscillates at a constant frequency.
- These wave radiator and receiver 11 and 12 are both formed by a piezo-electric element for radiating from the radiator 11 the ultrasonic waves conforming to the frequency of the output from the radiator 11 and, accordingly, the received-wave signal Ein is provided as an output of the receiver 12 as conformed to the frequency of the ultrasonic waves.
- the received-wave signal Ein is provided to a converter for converting it into a pair of intermediate signals E1 and E1a, and this converter comprises a phase shifter 14 for advancing by 90 degrees the phase of the output signal from the oscillating circuit 13, a pair of mixers 15 and 15a providing the pair of intermediate signals E1 and E1a which are beat signals respectively of output signal EO of the phase shifter 14 and received-wave signal Ein as well as the output signal EOa of the oscillating circuit 13 and received-wave signal Ein, and a pair of amplifying circuits 16 and 16a for amplifying respectively each of the intermediate signals E1 and E1a.
- Outputs of these amplifying circuits 16 and 16a are subjected to a discrimination at level detecting circuits 17 and 17a to determine whether or not they are respectively of a level higher than a predetermined so that, when at least one of the intermediate signals E1 and E1a is above the predetermined level, an output of an OR circuit 18 will be at "H" level. That is, when the received-wave signal Ein from the supervisory zone is the one which generating a frequency deviation due to the moving object with respect to the output signal of the oscillating circuit 13, the OR circuit 18 provides the "H" level output.
- one of these intermediate signals, E1 will be advanced in phase by 90 degrees from that of the other intermediate signal E1a, as shown by a dotted line curve in FIG. 2, when the object is approaching the wave receiver 12 within the supervisory zone, whereas the object separating from the wave receiver 12 causes the phase to be delayed by 90 degrees as shown by a solid line curve in FIG. 2.
- the intermediate signals E1 and E1a are represented by sine curves, the moving object will be practically of a complicated shape involving undulated surface so that the received-wave signal Ein will be a composite vector of reflected waves at various positions in the undulated surface, and the intermediate signals E1 and E1a will be of such distorted wave forms as shown in FIG. 3.
- the received-wave signal Ein is to denote a single point P on a plane of rectangular coordinates, which basic axes are the intermediate signals E1 and E1a, even when the received-wave signal Ein is the composite vector of many components.
- values E1(t1) and E1a(t1) at a time point t1 of the intermediate signals E1 and E1a are plotted on the plane of the rectangular coordinates of which the basic axes are the intermediate signals E1 and E1a, then the received-wave signal Ein can be correctly reproduced even when the signal Ein is considerably complicated.
- variations in the angle with respect to the basic axes and the magnitude of the received-wave signal Ein are detected according to the present invention.
- the intermediate signals E1 and E1a are provided to an angular momentum detecting circuit 19, in which the signals provided are subjected to a sampling at every time point, and an angle ⁇ (t) of the received-wave signal Ein with respect to the axes E1 in FIG. 3 is obtained at each time point t, the basic vector of the signal Ein being the intermediate signal E0 of the phase shifter 14.
- This angle ⁇ (t) is obtained through a following formula, from the intermediate signals E1(t) and E1a(t) at the time point t:
- the angular momentum detecting circuit 19 is here set to be capable of detecting the angle upon receiving an output of the OR circuit 18 provided when a fixed signal level is reached by at least one of the intermediate signals E1 and E1a as detected by the level detecting circuits 17 and 17a. So long as the level of the both intermediate signals E1 and E1a is below the fixed level, the angular momentum detecting circuit 19 is reset. An output of this circuit 19 is provided to an operation circuit 20, and any time series variation component, that is, the amount of variation and the polarity of the angle of the received-wave signals from the time point ti -1 to the time point ti will be obtained through a following formula:
- ⁇ (ti) thus obtained is provided to a signal processing circuit 21 to be sequentially added therein, as a result of which the received-wave signal Ein is made acknowledgeable in respect of the extent of its deviation in the vector plane even when the signal does not shift across two of quadrants of the vector plane, that is, even when the signal shifts only within a single quadrant and, when the result of the addition exceeds the present threshold value, a detection signal therefor is provided to an indicator driving circuit 22 to have the presence of the moving object made recognizable.
- the signal processing performed in the circuit 21 may be made in such that, order than the sequential addition of the angular variation components as in the foregoing, only the polarity of the angular variation component at every time point is detected so that +1 will be given for positive components but -1 for negative components, such given values are sequentially added and, when their total has exceeded a predetermined threshold value, a detection signal is provided. In other words, the detection output will be obtained when a difference between numbers of appearance of the respective positive and negative components has reached above the predetermined value.
- the angular momentum detecting circuit 19, operation circuit 20 and signal processing circuit 21 may be formed either in respectively individual circuit arrangement or in integral arrangement employing a microcomputer assembled with a software for carrying out the foregoing operation.
- an arrangement for detecting the moving distance of the object by obtaining the number of shift in the quadrants of the vector plane, taking into account that the frequency deviation component in the received-wave signal Ein from the moving object present in the supervisory zone, that is, Doppler signal frequency ⁇ f is
- the wave number N will be constant irrespective of the velocity of the moving object so as to be also constant in the number of shift in the vector plane and, when the vector plane is divided into four quadrants (or eight quadrants), the shift of 4 ⁇ N times (or 8 ⁇ N times) take place.
- the angle of shift in the vector plane can be detected by the addition and subtraction of the shift number on the basis of the shifting direction, so that the moving distance and direction of the object can be obtained.
- the intermediate signals E1 and E1a are provided as amplified through amplifiers 116 and 116a, and these intermediate signals E1 and E1a are provided to a quadrant signal generating circuit 123, in which any one of the quadrants in which the received-wave signal Ein is present in the vector plane the basic axes of which are the intermediate signals E1 and E1a are detected.
- the vector plane is divided into four quadrants for the quadrant detection, such discrimination as shown in following TABLE I is carried out in the quadrant signal generating circuit 123, and quadrant signals I through IV are thereby provided:
- the quadrant signals I through IV provided out of the quadrant signal generating circuit 123 are given to a memory circuit 124 to be temporarily stored therein, and also to a shifting direction detecting circuit 125 to be therein compared with previous data signals stored previously in the memory circuit 124 to detect in which direction in the vector plane the received-wave signals shift, and the circuit 125 provides an output instructing an addition for a shift in a sequence of, for example, the quadrants I-II-III . . . , regarded the same as "+" rotation, and another output instructing a subtraction for a shift in reverse sequence, regarded the same as "-" rotation.
- a shift signal is provided to an operation circuit 120 to which an output signal of the shifting direction dectcting circuit 125 is also provided so that the number of shift will be obtained through addition and subtraction operation.
- a received-wave signal vector draws such a locus as shown by a solid line curve in FIG. 5, there will be operated an addition in an event where the vector shifts in leftward, that is, from a first quadrant to a second quadrant but a subtraction in an event of a rightward shift, that is, from the first quadrant I to a fourth quadrant IV.
- the addition is carried out at points A, B, D and E where the vector intersects the axis E1 or E1a but the subtraction at point C.
- the quadrant signal generating circuit 123 is providing such signals as shown by (a) of FIG. 6 which respectively denoting each quadrant in which the received-wave signal vector is present with respect to the basic axes of the Doppler signals, that is, the intermediate signals E1 and E1a, while the shifting direction detecting circuit 125 provides, upon occurrence of the quadrant shift in the received-wave signal vector, such "+” or "-" signal as in (b) of FIG. 6 as a result of the comparison with the previous data stored in the memory circuit 124.
- the number of shift took place is obtained through the addition or subtraction as shown by (c) in FIG.
- a detection signal is provided from the circuit 126 to the indicator driving circuit 122 so as to have the presence of the moving object made to be acknowledgeable by the indicator.
- the wave number N of the Doppler signals will be proportional to moving distance of the object as in the above but is not influenced at all by the level or frequency ⁇ f of the Doppler signal so that, if the threshold values S1 and S2 are set taking into account the moving distance of the object, the moving object can be detected at high precision irrespective of the velocity of the moving object.
- a moving object detecting device which performs the high precision detection even when the moving velocity of the object is extremely high.
- FIG. 7 substantially the same components as in FIG. 1 or 4 are represented by the same reference numerals but added by 200 or 100 and, in the same manner as in the foregoing embodiment, the intermediate signals E1 and E1a are provided through amplifiers 216 and 216a. Also in the same manner as in FIG. 1, the intermediate signals E1 and E1a are provided, through level detecting circuits 217 and 217a, to OR circuit 218 to obtain the logic sum.
- the intermediate signals E1 and E1a are also provided to binary number converters 217' and 217a' to be converted into binary numbers X and Y.
- An output of the OR circuit 218 representing the presence or absence of the moving object in the supervisory zone as well as outputs of the binary number converters 217' and 217a' providing the quadrant signals of the received-wave signal vector with the intermediate signals E1 and E1a employed as the basic axes are provided to a quadrant signal generating circuit 223 as its inputs.
- any one of quadrant signals I through IV which corresponds 1:1 to any one of the quadrants in which the received-wave signal Ein is present in the vector plane will be generated in the form of a combination of the binary numbers X and Y, and will be conveyed to a quadrant shift direction detecting circuit 227.
- a quadrant shift direction detection circuit 227 a discrimination is made from which quadrant the quadrant signal has shifted at every time point to generate a positive or negative signal depending on the shift direction.
- Such outputs of the direction detecting circuit 227 are integrated at an integrating circuit 228 outputs of which are provided to a threshold level circuit 226 having a preset threshold level so that, whenever the integration output level exceeds the set threshold level, an output will be provided to the indicator driving circuit 222 and the presence of the moving object will be made acknowledgeable.
- the output of the quadrant shift direction detecting circuit 227 is also provided to a count signal generating circuit 229 in which an up-count pulse signal A or down-count pulse signal B is prepared to be provided to an up-down counter 230.
- the shift wave number of the received-wave signal's vector is counted by this up-down counter 230 so as to be able to calculate the moving distance when the moving object moves in the same direction and, when the shift wave number exceeds a present threshold level of the other threshold level circuit 231, an output is provided to the indicator driving circuit 222.
- the signal "1" denotes the absence of the received-wave signal Ein in corresponding one of the quadrants while the signal “0” denotes the presence of the signal in the corresponding quadrant, and these signals are provided to the quadrant shift direction detecting circuit 227 to have the quadrant signals temporarily stored and, a shift to a new quadrant, the direction of such shift is to be detected.
- the direction detecting circuit 227 For the storing in the direction detecting circuit 227, a pair of R-S flip-flops FF1 and FF2 are employed, and outputs of the flip-flops FF1 and FF2 accompanying the binary numbers X and Y and quadrant signals I through IV will be as shown in following TABLE IV:
- wave-forms (a) and (b) in FIG. 8 represent the intermediate signals E1 and E1a and the binary signals X and Y, respectively, and, when the binary signals X,Y are (1,1), the signal in the first quadrant I will be as a curve (c) of FIG. 8, when the signals are (0,1), the second quadrant II signal will be as a curve (d), when (0,0), the third quadrant III signal will be as a curve (e), and, when (1,0), the fourth quadrant IV signal will be as a wave-form (f).
- the foregoing flip-flop FF1 is reversed by the quadrant signals I and III to generate such outputs p and q as wave-forms (g) and (h) in FIG. 8, while the flip-flop FF2 is actuated by the quadrant signals II and IV to generate such outputs r and s as wave-forms (i) and (j) in FIG. 8.
- These outputs are processed at the direction detecting circuit 227, as shown by wave-forms (k) through (r) in FIG. 8, upon which the foregoing TABLE IV as presented by the quadrant shifting direction will be as in following TABLE V:
- wave radiator 311 receives output signals from an oscillating circuit 313, the output signals of which circuit 313 are also provided to a mixer 315 to which the received-wave signal from a wave receiver 312 is provided, and to a frequency discrimination circuit 332.
- An output of the mixer 315 is provided through an amplifier 316 to an operation circuit 320 to which an output of the frequency discrimination circuit 332 is also provided, while an output of the operation circuit 320 is provided to a threshold circuit 326 and, when a preset threshold level in this circuit 326 is exceeded by the output of the operation circuit 320, an output will be provided to an indicator driving circuit 322.
- the frequency discrimination circuit 332 is so designed as to provide an "H" level output when, for example, the frequency of the received-wave signal is higher than that of the radiated wave signal, that is, the moving object is approaching the wave receiver 312, but as to provide an "L” level output when the received-wave signal frequency is lower than that of the radiated wave signal, that is, the moving object is separating from the wave receiver 312.
- the Doppler signals provided from the mixer 315 through the amplifier 316 to the operation circuit 320 will be added upon every zero-crossing of the signals, whereas the "L" level output signal of the circuit 332 causes the Doppler signals sequentially subtracted upon every zero-crossing thereof.
- the result of the operation at the operation circuit 320 is made to be proportional to the number of the zero-crossing of the Doppler signals or, in other words, the number of waves of the Doppler signals, and it is made possible to detect reliably the moving object with a simpler arrangement, by properly setting the threshold level in the threshold level circuit 326 taking into account the moving velocity of the object, similarly to the case of the embodiment of FIG. 4.
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Radar Systems Or Details Thereof (AREA)
Applications Claiming Priority (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP8344487A JPS63249076A (ja) | 1987-04-03 | 1987-04-03 | 移動物体検知装置 |
JP62-83444 | 1987-04-03 | ||
JP62-270770 | 1987-10-27 | ||
JP27077087A JPH01113686A (ja) | 1987-10-27 | 1987-10-27 | 移動物体検知装置 |
JP63-15018 | 1988-01-26 | ||
JP63-15019 | 1988-01-26 | ||
JP1501988A JPH0616085B2 (ja) | 1988-01-26 | 1988-01-26 | 移動物体検知装置 |
JP63015018A JPH01189581A (ja) | 1988-01-26 | 1988-01-26 | 移動物体検知装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
US4961039A true US4961039A (en) | 1990-10-02 |
Family
ID=27456313
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US07/174,169 Expired - Fee Related US4961039A (en) | 1987-04-03 | 1988-03-28 | Moving object detecting device |
Country Status (3)
Country | Link |
---|---|
US (1) | US4961039A (de) |
DE (1) | DE3811113A1 (de) |
GB (1) | GB2204206B (de) |
Cited By (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5345240A (en) * | 1993-08-04 | 1994-09-06 | Hughes Missile Systems Company | Handheld obstacle penetrating motion detecting radar |
US5530429A (en) * | 1992-12-04 | 1996-06-25 | Borus Spezialverfahren Und -Gerate Im Sondermaschinenbau Gmbh | Electronic surveillance system |
WO1998038527A1 (de) * | 1997-02-28 | 1998-09-03 | Siemens Aktiengesellschaft | Verfahren zur bestimmung einer bewegungsrichtung |
US5903217A (en) * | 1997-10-21 | 1999-05-11 | Microwave Sensors, Inc. | Micro motion sensor |
US6057760A (en) * | 1997-09-02 | 2000-05-02 | Valeo Electronique | Method and device for detecting intruders by emitting and receiving ultrasound waves in an automobile vehicle |
US6307952B1 (en) | 1999-03-03 | 2001-10-23 | Disney Enterprises, Inc. | Apparatus for detecting guest interactions and method therefore |
EP1970729A1 (de) * | 2006-01-06 | 2008-09-17 | Matsushita Electric Works, Ltd. | Erkennungsvorrichtung für eine mobile einheit |
EP2088452A1 (de) * | 2006-11-20 | 2009-08-12 | Panasonic Electric Works Co., Ltd | Detektor für bewegliche objekte |
US20110149690A1 (en) * | 2009-12-22 | 2011-06-23 | Denso Corporation | Obstacle detection device |
US20110285578A1 (en) * | 2010-05-24 | 2011-11-24 | Honeywell International Inc. | Rf based tracker for rotating objects |
US20120249543A1 (en) * | 2011-04-04 | 2012-10-04 | Hyodo Katsuya | Display Control Apparatus and Method, and Program |
GB2559427A (en) * | 2017-02-07 | 2018-08-08 | Cirrus Logic Int Semiconductor Ltd | Motion detector |
US20190033438A1 (en) * | 2017-07-27 | 2019-01-31 | Acer Incorporated | Distance detection device and distance detection method thereof |
WO2021069829A1 (fr) * | 2019-10-09 | 2021-04-15 | Bh Technologies | Dispositif et procede de mesure de distance par ultrasons |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4313352C2 (de) * | 1992-12-04 | 1995-11-16 | Pepperl & Fuchs | Verfahren und Vorrichtung zum automatischen Feststellen von sich bewegenden Personen und/oder Fahrzeugen nach dem Doppler-Prinzip |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3665443A (en) * | 1970-09-03 | 1972-05-23 | Aerospace Res | Ultrasonic intrusion alarm |
US3733581A (en) * | 1971-08-17 | 1973-05-15 | H Kalmus | Acoustic doppler wave recognition |
US3760400A (en) * | 1972-02-10 | 1973-09-18 | Aerospace Res | Intrusion detection system employing quadrature sampling |
US3796989A (en) * | 1972-06-01 | 1974-03-12 | Westinghouse Electric Corp | Direction sensitive doppler processor |
US3878526A (en) * | 1973-06-29 | 1975-04-15 | Panametrics | Doppler signal processor using quadrature reference signals |
US4114146A (en) * | 1975-09-13 | 1978-09-12 | Matsushita Electric Works, Ltd. | Ultrasonic wave watching device of moving object detecting type |
USRE30288E (en) * | 1974-03-27 | 1980-05-27 | Pittway Corporation | Intrusion detection system |
US4225858A (en) * | 1976-11-10 | 1980-09-30 | I.E.I. Proprietary Limited | Doppler intrusion detector with dual phase processing |
US4287579A (en) * | 1978-08-11 | 1981-09-01 | Matsushita Electric Works, Ltd. | Moving object detecting device |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3942178A (en) * | 1974-03-27 | 1976-03-02 | Sontrix, Inc. | Intrusion detection system |
GB1543877A (en) * | 1977-01-13 | 1979-04-11 | Bendix Corp | Mti radar transmitter modulation compensator |
JPS5533655A (en) * | 1978-08-31 | 1980-03-08 | Nec Corp | Target detector |
-
1988
- 1988-03-28 US US07/174,169 patent/US4961039A/en not_active Expired - Fee Related
- 1988-03-29 GB GB8807468A patent/GB2204206B/en not_active Expired - Lifetime
- 1988-03-31 DE DE3811113A patent/DE3811113A1/de active Granted
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3665443A (en) * | 1970-09-03 | 1972-05-23 | Aerospace Res | Ultrasonic intrusion alarm |
US3733581A (en) * | 1971-08-17 | 1973-05-15 | H Kalmus | Acoustic doppler wave recognition |
US3760400A (en) * | 1972-02-10 | 1973-09-18 | Aerospace Res | Intrusion detection system employing quadrature sampling |
US3796989A (en) * | 1972-06-01 | 1974-03-12 | Westinghouse Electric Corp | Direction sensitive doppler processor |
US3878526A (en) * | 1973-06-29 | 1975-04-15 | Panametrics | Doppler signal processor using quadrature reference signals |
USRE30288E (en) * | 1974-03-27 | 1980-05-27 | Pittway Corporation | Intrusion detection system |
US4114146A (en) * | 1975-09-13 | 1978-09-12 | Matsushita Electric Works, Ltd. | Ultrasonic wave watching device of moving object detecting type |
US4225858A (en) * | 1976-11-10 | 1980-09-30 | I.E.I. Proprietary Limited | Doppler intrusion detector with dual phase processing |
US4287579A (en) * | 1978-08-11 | 1981-09-01 | Matsushita Electric Works, Ltd. | Moving object detecting device |
Cited By (25)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5530429A (en) * | 1992-12-04 | 1996-06-25 | Borus Spezialverfahren Und -Gerate Im Sondermaschinenbau Gmbh | Electronic surveillance system |
US5345240A (en) * | 1993-08-04 | 1994-09-06 | Hughes Missile Systems Company | Handheld obstacle penetrating motion detecting radar |
AU668482B2 (en) * | 1993-08-04 | 1996-05-02 | Raytheon Company | Handheld obstacle penetrating motion detecting radar |
WO1998038527A1 (de) * | 1997-02-28 | 1998-09-03 | Siemens Aktiengesellschaft | Verfahren zur bestimmung einer bewegungsrichtung |
US6057760A (en) * | 1997-09-02 | 2000-05-02 | Valeo Electronique | Method and device for detecting intruders by emitting and receiving ultrasound waves in an automobile vehicle |
US5903217A (en) * | 1997-10-21 | 1999-05-11 | Microwave Sensors, Inc. | Micro motion sensor |
US6307952B1 (en) | 1999-03-03 | 2001-10-23 | Disney Enterprises, Inc. | Apparatus for detecting guest interactions and method therefore |
US7746220B2 (en) * | 2006-01-06 | 2010-06-29 | Panasonic Electric Works Co., Ltd. | Moving object detection apparatus |
EP1970729A4 (de) * | 2006-01-06 | 2010-04-07 | Panasonic Elec Works Co Ltd | Erkennungsvorrichtung für eine mobile einheit |
EP1970729A1 (de) * | 2006-01-06 | 2008-09-17 | Matsushita Electric Works, Ltd. | Erkennungsvorrichtung für eine mobile einheit |
US20090016162A1 (en) * | 2006-01-06 | 2009-01-15 | Matsushita Electric Works, Ltd. | Moving object detection apparatus |
EP2088452A1 (de) * | 2006-11-20 | 2009-08-12 | Panasonic Electric Works Co., Ltd | Detektor für bewegliche objekte |
US20100052972A1 (en) * | 2006-11-20 | 2010-03-04 | Panasonic Electric Works Co., Ltd | Moving object detection system |
EP2088452A4 (de) * | 2006-11-20 | 2011-09-28 | Panasonic Elec Works Co Ltd | Detektor für bewegliche objekte |
US8576664B2 (en) | 2006-11-20 | 2013-11-05 | Panasonic Corporation | Moving object detection system |
US20110149690A1 (en) * | 2009-12-22 | 2011-06-23 | Denso Corporation | Obstacle detection device |
US8588029B2 (en) * | 2009-12-22 | 2013-11-19 | Denso Corporation | Obstacle detection device |
US9041594B2 (en) * | 2010-05-24 | 2015-05-26 | Honeywell International Inc. | RF based tracker for rotating objects |
US20110285578A1 (en) * | 2010-05-24 | 2011-11-24 | Honeywell International Inc. | Rf based tracker for rotating objects |
US20120249543A1 (en) * | 2011-04-04 | 2012-10-04 | Hyodo Katsuya | Display Control Apparatus and Method, and Program |
GB2559427A (en) * | 2017-02-07 | 2018-08-08 | Cirrus Logic Int Semiconductor Ltd | Motion detector |
US10641650B2 (en) | 2017-02-07 | 2020-05-05 | Cirrus Logic, Inc. | Motion detector |
US20190033438A1 (en) * | 2017-07-27 | 2019-01-31 | Acer Incorporated | Distance detection device and distance detection method thereof |
WO2021069829A1 (fr) * | 2019-10-09 | 2021-04-15 | Bh Technologies | Dispositif et procede de mesure de distance par ultrasons |
FR3101955A1 (fr) * | 2019-10-09 | 2021-04-16 | Bh Technologies | Dispositif et procede de mesure de distance par ultrasons |
Also Published As
Publication number | Publication date |
---|---|
GB2204206B (en) | 1991-10-30 |
DE3811113A1 (de) | 1988-10-20 |
DE3811113C2 (de) | 1991-08-14 |
GB8807468D0 (en) | 1988-05-05 |
GB2204206A (en) | 1988-11-02 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US4961039A (en) | Moving object detecting device | |
US4672279A (en) | Robot joint angle detecting system | |
US4664523A (en) | Apparatus for increasing the resolution of a laser gyroscope | |
US4499425A (en) | Phase velocity sign detector for frequency shift key demodulation | |
US3751712A (en) | Digital differential analyzer spiral scan generator | |
US4540924A (en) | System for positioning an object at a predetermined point for a digital servo device | |
KR880001287B1 (ko) | 자동 방향 탐지기 | |
US3298027A (en) | Digital automatic direction finding system | |
US3383687A (en) | Gross bearing error detector | |
SU530419A1 (ru) | Дискриминатор синфазной и квадратурной составл ющих комплексного сигнала | |
JPH0225172Y2 (de) | ||
SU1532992A2 (ru) | Амплитудный детектор | |
JPS6124938Y2 (de) | ||
RU1190746C (ru) | Устройство определени азимута | |
SU734774A1 (ru) | Преобразователь угла поворота вала в код | |
JPH0479589B2 (de) | ||
JPH0616085B2 (ja) | 移動物体検知装置 | |
SU723508A1 (ru) | Цифрова след ща система | |
SU959038A1 (ru) | Цифровой программный электропривод | |
SU809482A1 (ru) | Фазовый дискриминатор | |
SU1021007A2 (ru) | Устройство дискретного фазировани | |
SU881973A1 (ru) | Цифровой частотный демодул тор | |
SU1361717A2 (ru) | Преобразователь кода в угол поворота вала | |
SU1411976A2 (ru) | Магнитомодул ционный преобразователь угла | |
JPS5650401A (en) | Logical operation circuit for vehicle |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AS | Assignment |
Owner name: MATSUSHITA ELECTRIC WORKS, LTD., 1048, OAZA-KADOMA Free format text: ASSIGNMENT OF ASSIGNORS INTEREST.;ASSIGNORS:YAMAUCHI, KAZUMASA;INOUE, HIROMITSU;KATAYAMA, SUSUMU;REEL/FRAME:004865/0733 Effective date: 19880318 Owner name: MATSUSHITA ELECTRIC WORKS, LTD.,JAPAN Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:YAMAUCHI, KAZUMASA;INOUE, HIROMITSU;KATAYAMA, SUSUMU;REEL/FRAME:004865/0733 Effective date: 19880318 |
|
REMI | Maintenance fee reminder mailed | ||
LAPS | Lapse for failure to pay maintenance fees | ||
FP | Lapsed due to failure to pay maintenance fee |
Effective date: 19941005 |
|
STCH | Information on status: patent discontinuation |
Free format text: PATENT EXPIRED DUE TO NONPAYMENT OF MAINTENANCE FEES UNDER 37 CFR 1.362 |